Design of robust sliding mode control with disturbance observer for multi-axis coordinated traveling system

摘要

This paper deals with the robust control strategy for multi-axis coordinated motion system. Firstly, the adjacent cross-coupling error control method was introduced to reduce the synchronization error. Then, the sliding mode control (SMC) law based on the mathematical model of the plant was adopted for restraining parameter perturbation. Furthermore, addressing the unknown torque disturbance, a disturbance observer was proposed. The switching gain of the robust control algorithm can be set as a smaller value so that the chattering on the sliding mode plane can be decreased. The simulation results have proved the effectiveness of the proposed control algorithm.